//------------------------------------------------------------------------------
//  <copyright file="KukaLBR4ControllerCommon.h" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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//------------------------------------------------------------------------------

#pragma once

#include "stdafx.h"
#include "KukaLBR4PlusControllerExports.h"

namespace KukaLBR4ControllerCommonNS
{
	/// <summary> Message types for communication between control state machine and upstream client. </summary>
	enum KUKALBR4PLUSCONTROLLER_DLLEXPORTIMPORT MessageTypes
	{
		/// <summary> Indicates no available message. </summary>
		InvalidMessageType,

		/// <summary> Request for feedback. </summary>
		GetFeedbackMessageType,

		/// <summary> Set the controller state machine definition. </summary>
		SetCsmdMessageType,

		/// <summary> Start executing the controller state machine. </summary>
		StartCsmdMessageType,

		/// <summary> Stop executing the controller state machine. </summary>
		StopCsmdMessageType,

		/// <summary> Replace all of the "machine" registers in the controller. </summary>
		SetWorkingRegistersMessageType,

		/// <summary> Close the connection. </summary>
		ConnectionClosedMessageType
	};

	/// <summary> Valid states for a signal. </summary>
	enum KUKALBR4PLUSCONTROLLER_DLLEXPORTIMPORT  SignalState
	{
		/// <summary> Not signaled </summary>
		NotSignaled = 0,

		/// <summary> Signaled </summary>
		Signaled = 1
	};
}
